OpenRaiser/Intern-Atlas huggingface dataset:
Learning Configuration Space Belief Model from Collision Checks for Motion Planning
Venue: arXiv cs.RO 2019
Year: 2019

For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space using results from collision tests. We assume the robot's configuration space to be a continuous ambient space whereby neighbouring points tend to share the same collision state. This enables us to formulate a probabilistic model that assigns to unevaluated configurations a belief estimate of being collision-free. We have presented a detailed comparative analysis of various kNN methods and distance metrics used to evaluate C-space belief. We have also proposed a weighting matrix in C-space to improve the performance of kNN methods. Moreover, we have proposed a topological method that exploits the higher order structure of the C-space to generate a belief model. Our results indicate that our proposed topological method outperforms kNN methods by achieving higher model accuracy while being computationally efficient.
Attenuating Bias in Word Vectors
Venue: arXiv cs.CL 2019
Year: 2019

Word vector representations are well developed tools for various NLP and Machine Learning tasks and are known to retain significant semantic and syntactic structure of languages. But they are prone to carrying and amplifying bias which can perpetrate discrimination in various applications. In this work, we explore new simple ways to detect the most stereotypically gendered words in an embedding and remove the bias from them. We verify how names are masked carriers of gender bias and then use that as a tool to attenuate bias in embeddings. Further, we extend this property of names to show how names can be used to detect other types of bias in the embeddings such as bias based on race, ethnicity, and age.
Distributed and Private Coded Matrix Computation with Flexible Communication Load
Venue: arXiv cs.IT 2019
Year: 2019

Tensor operations, such as matrix multiplication, are central to large-scale machine learning applications. For user-driven tasks these operations can be carried out on a distributed computing platform with a master server at the user side and multiple workers in the cloud operating in parallel. For distributed platforms, it has been recently shown that coding over the input data matrices can reduce the computational delay, yielding a trade-off between recovery threshold and communication load. In this paper we impose an additional security constraint on the data matrices and assume that workers can collude to eavesdrop on the content of these data matrices. Specifically, we introduce a novel class of secure codes, referred to as secure generalized PolyDot codes, that generalizes previously published non-secure versions of these codes for matrix multiplication. These codes extend the state-of-the-art by allowing a flexible trade-off between recovery threshold and communication load for a fixed maximum number of colluding workers.
ODN: Opening the Deep Network for Open-set Action Recognition
Venue: arXiv cs.CV 2019
Year: 2019

In recent years, the performance of action recognition has been significantly improved with the help of deep neural networks. Most of the existing action recognition works hold the \textit{closed-set} assumption that all action categories are known beforehand while deep networks can be well trained for these categories. However, action recognition in the real world is essentially an \textit{open-set} problem, namely, it is impossible to know all action categories beforehand and consequently infeasible to prepare sufficient training samples for those emerging categories. In this case, applying closed-set recognition methods will definitely lead to unseen-category errors. To address this challenge, we propose the Open Deep Network (ODN) for the open-set action recognition task. Technologically, ODN detects new categories by applying a multi-class triplet thresholding method, and then dynamically reconstructs the classification layer and "opens" the deep network by adding predictors for new categories continually. In order to transfer the learned knowledge to the new category, two novel methods, Emphasis Initialization and Allometry Training, are adopted to initialize and incrementally train the new predictor so that only few samples are needed to fine-tune the model. Extensive experiments show that ODN can effectively detect and recognize new categories with little human intervention, thus applicable to the open-set action recognition tasks in the real world. Moreover, ODN can even achieve comparable performance to some closed-set methods.
Minimum-Polytope-Based Linear Programming Decoder for LDPC Codes via ADMM Approach
Venue: arXiv cs.IT 2019
Year: 2019

In this letter, we develop an efficient linear programming (LP) decoding algorithm for low-density parity-check (LDPC) codes. We first relax the maximum likelihood (ML) decoding problem to a LP problem by using check-node decomposition. Then, to solve the resulting LP problem, we propose an efficient iterative algorithm based on the alternating direction method of multipliers (ADMM) technique. In addition, the feasibility analysis of the proposed algorithm is presented. Furthermore, through exploiting the sparsity and orthogonality structures of the LP problem, the computational complexity of the proposed decoding algorithm increases linearly with the length of the LDPC code. Simulation results demonstrate that our proposed algorithm achieves better performance than other competing algorithms in terms of decoding time.
Coded Caching via Projective Geometry: A new low subpacketization scheme
Venue: arXiv cs.IT 2019
Year: 2019

Coded Caching is a promising solution to reduce the peak traffic in broadcast networks by prefetching the popular content close to end users and using coded transmissions. One of the chief issues of most coded caching schemes in literature is the issue of large $\textit{subpacketization}$, i.e., they require each file to be divided into a large number of subfiles. In this work, we present a coded caching scheme using line graphs of bipartite graphs in conjunction with projective geometries over finite fields. The presented scheme achieves a rate $Θ(\frac{K}{\log_q{K}})$ ($K$ being the number of users, $q$ is some prime power) with $\textit{subexponential}$ subpacketization $q^{O((\log_q{K})^2)}$ when cached fraction is upper bounded by a constant ($\frac{M}{N}\leq \frac{1}{q^α}$) for some positive integer $α$). Compared to earlier schemes, the presented scheme has a lower subpacketization (albeit possessing a higher rate). We also present a new subpacketization dependent lower bound on the rate for caching schemes in which each subfile is cached in the same number of users. Compared to the previously known bounds, this bound seems to perform better for a range of parameters of the caching system.
Physical reservoir computing built by spintronic devices for temporal information processing
Venue: arXiv cs.ET 2019
Year: 2019

Spintronic nanodevices have ultrafast nonlinear dynamic and recurrence behaviors on a nanosecond scale that promises to enable spintronic reservoir computing (RC) system. Here two physical RC systems based on a single magnetic skyrmion memristor (MSM) and 24 spin-torque nano-oscillators (STNOs) were proposed and modeled to process image classification task and nonlinear dynamic system prediction, respectively. Based on our micromagnetic simulation results on the nonlinear responses of MSM and STNO with current pulses stimulation, the handwritten digits recognition task domesticates that an RC system using one single MSM has the outstanding performance on image classification. In addition, the complex unknown nonlinear dynamic problems can also be well solved by a physical RC system consisted of 24 STNOs confirmed in a second-order nonlinear dynamic system and NARMA10 tasks. The capability of both high accuracy and fast information processing promises to enable one type of brain-like chip based on spintronics for various artificial intelligence tasks.
U2-Net: A Bayesian U-Net model with epistemic uncertainty feedback for photoreceptor layer segmentation in pathological OCT scans
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we introduce a Bayesian deep learning based model for segmenting the photoreceptor layer in pathological OCT scans. Our architecture provides accurate segmentations of the photoreceptor layer and produces pixel-wise epistemic uncertainty maps that highlight potential areas of pathologies or segmentation errors. We empirically evaluated this approach in two sets of pathological OCT scans of patients with age-related macular degeneration, retinal vein oclussion and diabetic macular edema, improving the performance of the baseline U-Net both in terms of the Dice index and the area under the precision/recall curve. We also observed that the uncertainty estimates were inversely correlated with the model performance, underlying its utility for highlighting areas where manual inspection/correction might be needed.
Evaluating the State-of-the-Art of End-to-End Natural Language Generation: The E2E NLG Challenge
Venue: arXiv cs.CL 2019
Year: 2019

This paper provides a comprehensive analysis of the first shared task on End-to-End Natural Language Generation (NLG) and identifies avenues for future research based on the results. This shared task aimed to assess whether recent end-to-end NLG systems can generate more complex output by learning from datasets containing higher lexical richness, syntactic complexity and diverse discourse phenomena. Introducing novel automatic and human metrics, we compare 62 systems submitted by 17 institutions, covering a wide range of approaches, including machine learning architectures -- with the majority implementing sequence-to-sequence models (seq2seq) -- as well as systems based on grammatical rules and templates. Seq2seq-based systems have demonstrated a great potential for NLG in the challenge. We find that seq2seq systems generally score high in terms of word-overlap metrics and human evaluations of naturalness -- with the winning SLUG system (Juraska et al., 2018) being seq2seq-based. However, vanilla seq2seq models often fail to correctly express a given meaning representation if they lack a strong semantic control mechanism applied during decoding. Moreover, seq2seq models can be outperformed by hand-engineered systems in terms of overall quality, as well as complexity, length and diversity of outputs. This research has influenced, inspired and motivated a number of recent studies outwith the original competition, which we also summarise as part of this paper.
Towards Tight(er) Bounds for the Excluded Grid Theorem
Venue: arXiv cs.DM 2019
Year: 2019

We study the Excluded Grid Theorem, a fundamental structural result in graph theory, that was proved by Robertson and Seymour in their seminal work on graph minors. The theorem states that there is a function $f: \mathbb{Z}^+ \to \mathbb{Z}^+$, such that for every integer $g>0$, every graph of treewidth at least $f(g)$ contains the $(g\times g)$-grid as a minor. For every integer $g>0$, let $f(g)$ be the smallest value for which the theorem holds. Establishing tight bounds on $f(g)$ is an important graph-theoretic question. Robertson and Seymour showed that $f(g)=Ω(g^2\log g)$ must hold. For a long time, the best known upper bounds on $f(g)$ were super-exponential in $g$. The first polynomial upper bound of $f(g)=O(g^{98}\text{poly}\log g)$ was proved by Chekuri and Chuzhoy. It was later improved to $f(g) = O(g^{36}\text{poly} \log g)$, and then to $f(g)=O(g^{19}\text{poly}\log g)$. In this paper we further improve this bound to $f(g)=O(g^{9}\text{poly} \log g)$. We believe that our proof is significantly simpler than the proofs of the previous bounds. Moreover, while there are natural barriers that seem to prevent the previous methods from yielding tight bounds for the theorem, it seems conceivable that the techniques proposed in this paper can lead to even tighter bounds on $f(g)$.
FEniCS Mechanics: A Package for Continuum Mechanics Simulations
Venue: arXiv cs.CE 2019
Year: 2019

FEniCS Mechanics is a Python package to facilitate computational mechanics simulations. The Python library dolfin, from the FEniCS Project, is used to formulate and numerically solve the problem in variational form. The general balance laws from continuum mechanics are used to enable rapid prototyping of different material laws. In addition to its generality, FEniCS Mechanics also checks the input provided by users to ensure that problem definitions are physically consistent. In turn, this code enables simulations of custom mechanics problems to be more accessible to those with limited programming or mechanics knowledge.
Safely Abstracting Memory Layouts
Venue: arXiv cs.PL 2019
Year: 2019

Modern architectures require applications to make effective use of caches to achieve high performance and hide memory latency. This in turn requires careful consideration of placement of data in memory to exploit spatial locality, leverage hardware prefetching and conserve memory bandwidth. In unmanaged languages like C++, memory optimisations are common, but at the cost of losing object abstraction and memory safety. In managed languages like Java and C#, the abstract view of memory and proliferation of moving compacting garbage collection does not provide enough control over placement and layout. We have proposed SHAPES, a type-driven abstract placement specification that can be integrated with object-oriented languages to enable memory optimisations. SHAPES preserves both memory and object abstraction. In this paper, we formally specify the SHAPES semantics and describe its memory safety model.
Domain Translation with Conditional GANs: from Depth to RGB Face-to-Face
Venue: arXiv cs.CV 2019
Year: 2019

Can faces acquired by low-cost depth sensors be useful to catch some characteristic details of the face? Typically the answer is no. However, new deep architectures can generate RGB images from data acquired in a different modality, such as depth data. In this paper, we propose a new \textit{Deterministic Conditional GAN}, trained on annotated RGB-D face datasets, effective for a face-to-face translation from depth to RGB. Although the network cannot reconstruct the exact somatic features for unknown individual faces, it is capable to reconstruct plausible faces; their appearance is accurate enough to be used in many pattern recognition tasks. In fact, we test the network capability to hallucinate with some \textit{Perceptual Probes}, as for instance face aspect classification or landmark detection. Depth face can be used in spite of the correspondent RGB images, that often are not available due to difficult luminance conditions. Experimental results are very promising and are as far as better than previously proposed approaches: this domain translation can constitute a new way to exploit depth data in new future applications.
Causal Reasoning from Meta-reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

Discovering and exploiting the causal structure in the environment is a crucial challenge for intelligent agents. Here we explore whether causal reasoning can emerge via meta-reinforcement learning. We train a recurrent network with model-free reinforcement learning to solve a range of problems that each contain causal structure. We find that the trained agent can perform causal reasoning in novel situations in order to obtain rewards. The agent can select informative interventions, draw causal inferences from observational data, and make counterfactual predictions. Although established formal causal reasoning algorithms also exist, in this paper we show that such reasoning can arise from model-free reinforcement learning, and suggest that causal reasoning in complex settings may benefit from the more end-to-end learning-based approaches presented here. This work also offers new strategies for structured exploration in reinforcement learning, by providing agents with the ability to perform -- and interpret -- experiments.
Semantic Relation Classification via Bidirectional LSTM Networks with Entity-aware Attention using Latent Entity Typing
Venue: arXiv cs.CL 2019
Year: 2019

Classifying semantic relations between entity pairs in sentences is an important task in Natural Language Processing (NLP). Most previous models for relation classification rely on the high-level lexical and syntactic features obtained by NLP tools such as WordNet, dependency parser, part-of-speech (POS) tagger, and named entity recognizers (NER). In addition, state-of-the-art neural models based on attention mechanisms do not fully utilize information of entity that may be the most crucial features for relation classification. To address these issues, we propose a novel end-to-end recurrent neural model which incorporates an entity-aware attention mechanism with a latent entity typing (LET) method. Our model not only utilizes entities and their latent types as features effectively but also is more interpretable by visualizing attention mechanisms applied to our model and results of LET. Experimental results on the SemEval-2010 Task 8, one of the most popular relation classification task, demonstrate that our model outperforms existing state-of-the-art models without any high-level features.
Service-Oriented Software Architecture for Cloud Robotics
Venue: arXiv cs.RO 2019
Year: 2019

In this article, we present an overview of the use of service-oriented architecture and Web services in developing robotics applications and software integrated with the Internet and the Cloud. This is a recent trend that emerged since 2010 from the concept of cloud robotics, which leverages the use of cloud infrastructures for robotics applications following a service-oriented architecture approach. In particular, we distinguish two main categories: (\textit{i.}) virtualization of robotics systems and (\textit{ii.}) computation offloading from robots to cloud-based services. We discuss the main approaches proposed in the literature to design robotics systems through the Web and their integration to the cloud through a service-oriented computing framework.
Generating and Aligning from Data Geometries with Generative Adversarial Networks
Venue: arXiv cs.LG 2019
Year: 2019

Unsupervised domain mapping has attracted substantial attention in recent years due to the success of models based on the cycle-consistency assumption. These models map between two domains by fooling a probabilistic discriminator, thereby matching the probability distributions of the real and generated data. Instead of this probabilistic approach, we cast the problem in terms of aligning the geometry of the manifolds of the two domains. We introduce the Manifold Geometry Matching Generative Adversarial Network (MGM GAN), which adds two novel mechanisms to facilitate GANs sampling from the geometry of the manifold rather than the density and then aligning two manifold geometries: (1) an importance sampling technique that reweights points based on their density on the manifold, making the discriminator only able to discern geometry and (2) a penalty adapted from traditional manifold alignment literature that explicitly enforces the geometry to be preserved. The MGM GAN leverages the manifolds arising from a pre-trained autoencoder to bridge the gap between formal manifold alignment literature and existing GAN work, and demonstrate the advantages of modeling the manifold geometry over its density.
Real-Time Reconstruction of Counting Process through Queues
Venue: arXiv cs.IT 2019
Year: 2019

For the emerging Internet of Things (IoT), one of the most critical problems is the real-time reconstruction of signals from a set of aged measurements. During the reconstruction, distortion occurs between the observed signal and the reconstructed signal due to sampling and transmission. In this paper, we focus on minimizing the average distortion defined as the 1-norm of the difference of the two signals under the scenario that a Poisson counting process is reconstructed in real-time on a remote monitor. Especially, we consider the reconstruction under uniform sampling policy and two non-uniform sampling policies, i.e., the threshold-based policy and the zero-wait policy. For each of the policy, we derive the closed-form expression of the average distortion by dividing the overall distortion area into polygons and analyzing their structures. It turns out that the polygons are built up by sub-polygons that account for distortions caused by sampling and transmission. The closed-form expressions of the average distortion help us find the optimal sampling parameters that achieve the minimum distortion. Simulation results are provided to validate our conclusion.
Greedy Strategy Works for $k$-Center Clustering with Outliers and Coreset Construction
Venue: arXiv cs.CG 2019
Year: 2019

We study the problem of $k$-center clustering with outliers in arbitrary metrics and Euclidean space. Though a number of methods have been developed in the past decades, it is still quite challenging to design quality guaranteed algorithm with low complexity for this problem. Our idea is inspired by the greedy method, Gonzalez's algorithm, for solving the problem of ordinary $k$-center clustering. Based on some novel observations, we show that this greedy strategy actually can handle $k$-center clustering with outliers efficiently, in terms of clustering quality and time complexity. We further show that the greedy approach yields small coreset for the problem in doubling metrics, so as to reduce the time complexity significantly. Our algorithms are easy to implement in practice. We test our method on both synthetic and real datasets. The experimental results suggest that our algorithms can achieve near optimal solutions and yield lower running times comparing with existing methods.
Deep Learning on Attributed Graphs: A Journey from Graphs to Their Embeddings and Back
Venue: arXiv cs.LG 2019
Year: 2019

A graph is a powerful concept for representation of relations between pairs of entities. Data with underlying graph structure can be found across many disciplines and there is a natural desire for understanding such data better. Deep learning (DL) has achieved significant breakthroughs in a variety of machine learning tasks in recent years, especially where data is structured on a grid, such as in text, speech, or image understanding. However, surprisingly little has been done to explore the applicability of DL on arbitrary graph-structured data directly. The goal of this thesis is to investigate architectures for DL on graphs and study how to transfer, adapt or generalize concepts that work well on sequential and image data to this domain. We concentrate on two important primitives: embedding graphs or their nodes into a continuous vector space representation (encoding) and, conversely, generating graphs from such vectors back (decoding). To that end, we make the following contributions. First, we introduce Edge-Conditioned Convolutions (ECC), a convolution-like operation on graphs performed in the spatial domain where filters are dynamically generated based on edge attributes. The method is used to encode graphs with arbitrary and varying structure. Second, we propose SuperPoint Graph, an intermediate point cloud representation with rich edge attributes encoding the contextual relationship between object parts. Based on this representation, ECC is employed to segment large-scale point clouds without major sacrifice in fine details. Third, we present GraphVAE, a graph generator allowing us to decode graphs with variable but upper-bounded number of nodes making use of approximate graph matching for aligning the predictions of an autoencoder with its inputs. The method is applied to the task of molecule generation.